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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::registration::CorrespondenceRejectorMedianDistance类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html" title="CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thr...">CorrespondenceRejectorMedianDistance</a> implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences.  
 <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="correspondence__rejection__median__distance_8h_source.html">correspondence_rejection_median_distance.h</a>&gt;</code></p>
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类 pcl::registration::CorrespondenceRejectorMedianDistance 继承关系图:</div>
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Public 类型</h2></td></tr>
<tr class="memitem:a3c3f4c1844fdf2f96e771d749039ff79"><td class="memItemLeft" align="right" valign="top"><a id="a3c3f4c1844fdf2f96e771d749039ff79"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html">CorrespondenceRejectorMedianDistance</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
<tr class="separator:a3c3f4c1844fdf2f96e771d749039ff79"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9fdc82bed1c125492a0d7e746e687cc2"><td class="memItemLeft" align="right" valign="top"><a id="a9fdc82bed1c125492a0d7e746e687cc2"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html">CorrespondenceRejectorMedianDistance</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
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<tr class="inherit_header pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 类型 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:a192578d5c6faa199b6137f7052ebe3bd inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a192578d5c6faa199b6137f7052ebe3bd"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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<tr class="memitem:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a364a36b29c665856a1819d7a42cf5154"></a>
typedef boost::shared_ptr&lt; const <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">CorrespondenceRejector</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstPtr</b></td></tr>
<tr class="separator:a364a36b29c665856a1819d7a42cf5154 inherit pub_types_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:af91f989b42125c362e3491992877f80f"><td class="memItemLeft" align="right" valign="top"><a id="af91f989b42125c362e3491992877f80f"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#af91f989b42125c362e3491992877f80f">CorrespondenceRejectorMedianDistance</a> ()</td></tr>
<tr class="memdesc:af91f989b42125c362e3491992877f80f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:af91f989b42125c362e3491992877f80f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55a868a28465585cc0f4b2dc3a2c2266"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a55a868a28465585cc0f4b2dc3a2c2266">getRemainingCorrespondences</a> (const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</td></tr>
<tr class="memdesc:a55a868a28465585cc0f4b2dc3a2c2266"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a list of valid correspondences after rejection from the original set of correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a55a868a28465585cc0f4b2dc3a2c2266">更多...</a><br /></td></tr>
<tr class="separator:a55a868a28465585cc0f4b2dc3a2c2266"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a217b1569376214c285d8a5901a67c8cd"><td class="memItemLeft" align="right" valign="top"><a id="a217b1569376214c285d8a5901a67c8cd"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a217b1569376214c285d8a5901a67c8cd">getMedianDistance</a> () const</td></tr>
<tr class="memdesc:a217b1569376214c285d8a5901a67c8cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the median distance used for thresholding in correspondence rejection. <br /></td></tr>
<tr class="separator:a217b1569376214c285d8a5901a67c8cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1dbaa13705e861da0372ff65c805c4ea"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a1dbaa13705e861da0372ff65c805c4ea"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1dbaa13705e861da0372ff65c805c4ea">setInputSource</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a1dbaa13705e861da0372ff65c805c4ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1dbaa13705e861da0372ff65c805c4ea">更多...</a><br /></td></tr>
<tr class="separator:a1dbaa13705e861da0372ff65c805c4ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03bb514884113d9af6158af85c00ea7c"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a03bb514884113d9af6158af85c00ea7c"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a03bb514884113d9af6158af85c00ea7c">setInputCloud</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;cloud)</td></tr>
<tr class="memdesc:a03bb514884113d9af6158af85c00ea7c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a03bb514884113d9af6158af85c00ea7c">更多...</a><br /></td></tr>
<tr class="separator:a03bb514884113d9af6158af85c00ea7c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adb6467ef67ddcbe237a83397a373839d"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:adb6467ef67ddcbe237a83397a373839d"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#adb6467ef67ddcbe237a83397a373839d">setInputTarget</a> (const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;target)</td></tr>
<tr class="memdesc:adb6467ef67ddcbe237a83397a373839d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#adb6467ef67ddcbe237a83397a373839d">更多...</a><br /></td></tr>
<tr class="separator:adb6467ef67ddcbe237a83397a373839d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a77041e91b21251c35d36c10c5f7c8122"><td class="memItemLeft" align="right" valign="top"><a id="a77041e91b21251c35d36c10c5f7c8122"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a77041e91b21251c35d36c10c5f7c8122">requiresSourcePoints</a> () const</td></tr>
<tr class="memdesc:a77041e91b21251c35d36c10c5f7c8122"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source points <br /></td></tr>
<tr class="separator:a77041e91b21251c35d36c10c5f7c8122"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae9acb1da4008b6247890e63dd94e43cd"><td class="memItemLeft" align="right" valign="top"><a id="ae9acb1da4008b6247890e63dd94e43cd"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#ae9acb1da4008b6247890e63dd94e43cd">setSourcePoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:ae9acb1da4008b6247890e63dd94e43cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Blob method for setting the source cloud <br /></td></tr>
<tr class="separator:ae9acb1da4008b6247890e63dd94e43cd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a6aaa11a90c9b3be8857c1ab0a0050c"><td class="memItemLeft" align="right" valign="top"><a id="a1a6aaa11a90c9b3be8857c1ab0a0050c"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1a6aaa11a90c9b3be8857c1ab0a0050c">requiresTargetPoints</a> () const</td></tr>
<tr class="memdesc:a1a6aaa11a90c9b3be8857c1ab0a0050c"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires a target cloud <br /></td></tr>
<tr class="separator:a1a6aaa11a90c9b3be8857c1ab0a0050c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a80be30ab8390783aae3eb230a0c91b48"><td class="memItemLeft" align="right" valign="top"><a id="a80be30ab8390783aae3eb230a0c91b48"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a80be30ab8390783aae3eb230a0c91b48">setTargetPoints</a> (pcl::PCLPointCloud2::ConstPtr cloud2)</td></tr>
<tr class="memdesc:a80be30ab8390783aae3eb230a0c91b48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Method for setting the target cloud <br /></td></tr>
<tr class="separator:a80be30ab8390783aae3eb230a0c91b48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afbd18955dda3ee094bfe0d22864a0f73"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:afbd18955dda3ee094bfe0d22864a0f73"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#afbd18955dda3ee094bfe0d22864a0f73">setSearchMethodTarget</a> (const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;tree, bool force_no_recompute=false)</td></tr>
<tr class="memdesc:afbd18955dda3ee094bfe0d22864a0f73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the search object used to find correspondences in the target cloud.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#afbd18955dda3ee094bfe0d22864a0f73">更多...</a><br /></td></tr>
<tr class="separator:afbd18955dda3ee094bfe0d22864a0f73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abf36ccb95bf035bc1ca6c650c03ccf48"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#abf36ccb95bf035bc1ca6c650c03ccf48">setMedianFactor</a> (double factor)</td></tr>
<tr class="memdesc:abf36ccb95bf035bc1ca6c650c03ccf48"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the factor for correspondence rejection. Points with distance greater than median times factor will be rejected  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#abf36ccb95bf035bc1ca6c650c03ccf48">更多...</a><br /></td></tr>
<tr class="separator:abf36ccb95bf035bc1ca6c650c03ccf48"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ade05602f3f05139f3402addc2a3cee22"><td class="memItemLeft" align="right" valign="top"><a id="ade05602f3f05139f3402addc2a3cee22"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#ade05602f3f05139f3402addc2a3cee22">getMedianFactor</a> () const</td></tr>
<tr class="memdesc:ade05602f3f05139f3402addc2a3cee22"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the factor used for thresholding in correspondence rejection. <br /></td></tr>
<tr class="separator:ade05602f3f05139f3402addc2a3cee22"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aece0e22dd156eaacff20b45069036483"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aece0e22dd156eaacff20b45069036483">CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
<tr class="separator:aece0e22dd156eaacff20b45069036483 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a6cbaada1584e194daaad3fd0c2d4aee8"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6cbaada1584e194daaad3fd0c2d4aee8">~CorrespondenceRejector</a> ()</td></tr>
<tr class="memdesc:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
<tr class="separator:a6cbaada1584e194daaad3fd0c2d4aee8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">setInputCorrespondences</a> (const CorrespondencesConstPtr &amp;correspondences)</td></tr>
<tr class="memdesc:af69c08f02cc1a3f69920f73f1664f0d8 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#af69c08f02cc1a3f69920f73f1664f0d8">更多...</a><br /></td></tr>
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<tr class="memitem:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">getInputCorrespondences</a> ()</td></tr>
<tr class="memdesc:ae43d54dc28964e8df4ab05b74c3b7135 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the vector of the input correspondences.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#ae43d54dc28964e8df4ab05b74c3b7135">更多...</a><br /></td></tr>
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<tr class="memitem:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">getCorrespondences</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:a72c90f3fb93739b0366d3528cf7d502f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Run correspondence rejection  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a72c90f3fb93739b0366d3528cf7d502f">更多...</a><br /></td></tr>
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<tr class="memitem:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">getRejectedQueryIndices</a> (const pcl::Correspondences &amp;correspondences, std::vector&lt; int &gt; &amp;indices)</td></tr>
<tr class="memdesc:a6a1c8dff3bcce8f99ec98b9982838ffc inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Determine the indices of query points of correspondences that have been rejected, i.e., the difference between the input correspondences (set via <em>setInputCorrespondences</em>) and the given correspondence vector.  <a href="classpcl_1_1registration_1_1_correspondence_rejector.html#a6a1c8dff3bcce8f99ec98b9982838ffc">更多...</a><br /></td></tr>
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<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
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<tr class="memitem:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a08f07ed59490ee2c5d01a99d5589e306"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a08f07ed59490ee2c5d01a99d5589e306">requiresSourceNormals</a> () const</td></tr>
<tr class="memdesc:a08f07ed59490ee2c5d01a99d5589e306 inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires source normals <br /></td></tr>
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<tr class="memitem:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a2f61f392a8d0c3da5502949cb22bba7d"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a2f61f392a8d0c3da5502949cb22bba7d">setSourceNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a2f61f392a8d0c3da5502949cb22bba7d inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the source normals <br /></td></tr>
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<tr class="memitem:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab3afeffa725f643d1ebc3c0545ea05be"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab3afeffa725f643d1ebc3c0545ea05be">requiresTargetNormals</a> () const</td></tr>
<tr class="memdesc:ab3afeffa725f643d1ebc3c0545ea05be inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">See if this rejector requires target normals <br /></td></tr>
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<tr class="memitem:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a4bbb67f5066c674eba95b440bb4fd03a"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a4bbb67f5066c674eba95b440bb4fd03a">setTargetNormals</a> (pcl::PCLPointCloud2::ConstPtr)</td></tr>
<tr class="memdesc:a4bbb67f5066c674eba95b440bb4fd03a inherit pub_methods_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract method for setting the target normals <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-types"></a>
Protected 类型</h2></td></tr>
<tr class="memitem:aaadf3950dabbb884ed1c85825db77982"><td class="memItemLeft" align="right" valign="top"><a id="aaadf3950dabbb884ed1c85825db77982"></a>
typedef boost::shared_ptr&lt; <a class="el" href="classpcl_1_1registration_1_1_data_container_interface.html">DataContainerInterface</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DataContainerPtr</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:aef78a266abf4fa839edf91b154656b9e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#aef78a266abf4fa839edf91b154656b9e">applyRejection</a> (pcl::Correspondences &amp;correspondences)</td></tr>
<tr class="memdesc:aef78a266abf4fa839edf91b154656b9e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Apply the rejection algorithm.  <a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#aef78a266abf4fa839edf91b154656b9e">更多...</a><br /></td></tr>
<tr class="separator:aef78a266abf4fa839edf91b154656b9e"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:ad05fb1ffb2ac6ce40ae5d6528331caee"><td class="memItemLeft" align="right" valign="top"><a id="ad05fb1ffb2ac6ce40ae5d6528331caee"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#ad05fb1ffb2ac6ce40ae5d6528331caee">median_distance_</a></td></tr>
<tr class="memdesc:ad05fb1ffb2ac6ce40ae5d6528331caee"><td class="mdescLeft">&#160;</td><td class="mdescRight">The median distance threshold between two correspondent points in source &lt;-&gt; target. <br /></td></tr>
<tr class="separator:ad05fb1ffb2ac6ce40ae5d6528331caee"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1f708753da3e9b0e53f9ce892a2c375e"><td class="memItemLeft" align="right" valign="top"><a id="a1f708753da3e9b0e53f9ce892a2c375e"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1f708753da3e9b0e53f9ce892a2c375e">factor_</a></td></tr>
<tr class="memdesc:a1f708753da3e9b0e53f9ce892a2c375e"><td class="mdescLeft">&#160;</td><td class="mdescRight">The factor for correspondence rejection. Points with distance greater than median times factor will be rejected <br /></td></tr>
<tr class="separator:a1f708753da3e9b0e53f9ce892a2c375e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a82b18888604dd7807a4d66fa283adea7"><td class="memItemLeft" align="right" valign="top"><a id="a82b18888604dd7807a4d66fa283adea7"></a>
DataContainerPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a></td></tr>
<tr class="memdesc:a82b18888604dd7807a4d66fa283adea7"><td class="mdescLeft">&#160;</td><td class="mdescRight">A pointer to the <a class="el" href="classpcl_1_1registration_1_1_data_container.html">DataContainer</a> object containing the input and target point clouds <br /></td></tr>
<tr class="separator:a82b18888604dd7807a4d66fa283adea7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html">pcl::registration::CorrespondenceRejector</a></td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1 inherit pro_attribs_classpcl_1_1registration_1_1_correspondence_rejector"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-methods"></a>
Private 成员函数</h2></td></tr>
<tr class="memitem:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memItemLeft" align="right" valign="top"><a id="aa5996af869d7aaa6b8b8dc156038dd3f"></a>
const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> () const</td></tr>
<tr class="memdesc:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a string representation of the name of this class. <br /></td></tr>
<tr class="separator:aa5996af869d7aaa6b8b8dc156038dd3f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pri-attribs"></a>
Private 属性</h2></td></tr>
<tr class="memitem:a74d516ca516f7421fd86a53dec1a57b1"><td class="memItemLeft" align="right" valign="top"><a id="a74d516ca516f7421fd86a53dec1a57b1"></a>
CorrespondencesConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a></td></tr>
<tr class="memdesc:a74d516ca516f7421fd86a53dec1a57b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">The input correspondences. <br /></td></tr>
<tr class="separator:a74d516ca516f7421fd86a53dec1a57b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab97eb70d3661574301fe1f978576726d"><td class="memItemLeft" align="right" valign="top"><a id="ab97eb70d3661574301fe1f978576726d"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#ab97eb70d3661574301fe1f978576726d">rejection_name_</a></td></tr>
<tr class="memdesc:ab97eb70d3661574301fe1f978576726d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The name of the rejection method. <br /></td></tr>
<tr class="separator:ab97eb70d3661574301fe1f978576726d"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html" title="CorrespondenceRejectorMedianDistance implements a simple correspondence rejection method based on thr...">CorrespondenceRejectorMedianDistance</a> implements a simple correspondence rejection method based on thresholding based on the median distance between the correspondences. </p>
<dl class="section note"><dt>注解</dt><dd>If <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a03bb514884113d9af6158af85c00ea7c">setInputCloud</a> and <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#adb6467ef67ddcbe237a83397a373839d">setInputTarget</a> are given, then the distances between correspondences will be estimated using the given XYZ data, and not read from the set of input correspondences.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Aravindhan K Krishnan. This code is ported from libpointmatcher (<a href="https://github.com/ethz-asl/libpointmatcher">https://github.com/ethz-asl/libpointmatcher</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="aef78a266abf4fa839edf91b154656b9e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aef78a266abf4fa839edf91b154656b9e">&#9670;&nbsp;</a></span>applyRejection()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::applyRejection </td>
          <td>(</td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>correspondences</em></td><td>)</td>
          <td></td>
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  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span><span class="mlabel">virtual</span></span>  </td>
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<p>Apply the rejection algorithm. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">correspondences</td><td>the set of resultant correspondences. </td></tr>
  </table>
  </dd>
</dl>

<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a60dbdcf8f1005a1405dcab244a5c5608">pcl::registration::CorrespondenceRejector</a>.</p>
<div class="fragment"><div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        {</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;          <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a55a868a28465585cc0f4b2dc3a2c2266">getRemainingCorrespondences</a> (*<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a74d516ca516f7421fd86a53dec1a57b1">input_correspondences_</a>, correspondences);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_a55a868a28465585cc0f4b2dc3a2c2266"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a55a868a28465585cc0f4b2dc3a2c2266">pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorrespondences</a></div><div class="ttdeci">void getRemainingCorrespondences(const pcl::Correspondences &amp;original_correspondences, pcl::Correspondences &amp;remaining_correspondences)</div><div class="ttdoc">Get a list of valid correspondences after rejection from the original set of correspondences.</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_a74d516ca516f7421fd86a53dec1a57b1"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a74d516ca516f7421fd86a53dec1a57b1">pcl::registration::CorrespondenceRejectorMedianDistance::input_correspondences_</a></div><div class="ttdeci">CorrespondencesConstPtr input_correspondences_</div><div class="ttdoc">The input correspondences.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:191</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a55a868a28465585cc0f4b2dc3a2c2266">&#9670;&nbsp;</a></span>getRemainingCorrespondences()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::getRemainingCorrespondences </td>
          <td>(</td>
          <td class="paramtype">const pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>original_correspondences</em>, </td>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">pcl::Correspondences &amp;&#160;</td>
          <td class="paramname"><em>remaining_correspondences</em>&#160;</td>
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          <td>)</td>
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<p>Get a list of valid correspondences after rejection from the original set of correspondences. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">original_correspondences</td><td>the set of initial correspondences given </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">remaining_correspondences</td><td>the resultant filtered set of remaining correspondences </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1registration_1_1_correspondence_rejector.html#a42fe3fe1efc3275e78833200bce2027e">pcl::registration::CorrespondenceRejector</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a03bb514884113d9af6158af85c00ea7c">&#9670;&nbsp;</a></span>setInputCloud()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::setInputCloud </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        {</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;          PCL_WARN (<span class="stringliteral">&quot;[pcl::registration::%s::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.\n&quot;</span>, <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#aa5996af869d7aaa6b8b8dc156038dd3f">getClassName</a> ().c_str ());</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1dbaa13705e861da0372ff65c805c4ea">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_a1dbaa13705e861da0372ff65c805c4ea"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1dbaa13705e861da0372ff65c805c4ea">pcl::registration::CorrespondenceRejectorMedianDistance::setInputSource</a></div><div class="ttdeci">void setInputSource(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_median_distance.h:97</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_a82b18888604dd7807a4d66fa283adea7"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">pcl::registration::CorrespondenceRejectorMedianDistance::data_container_</a></div><div class="ttdeci">DataContainerPtr data_container_</div><div class="ttdoc">A pointer to the DataContainer object containing the input and target point clouds</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_median_distance.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_aa5996af869d7aaa6b8b8dc156038dd3f"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#aa5996af869d7aaa6b8b8dc156038dd3f">pcl::registration::CorrespondenceRejectorMedianDistance::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Get a string representation of the name of this class.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection.h:135</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1dbaa13705e861da0372ff65c805c4ea">&#9670;&nbsp;</a></span>setInputSource()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::setInputSource </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>cloud</em></td><td>)</td>
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<p>Provide a source point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">cloud</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1dbaa13705e861da0372ff65c805c4ea">setInputSource</a> (cloud);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#adb6467ef67ddcbe237a83397a373839d">&#9670;&nbsp;</a></span>setInputTarget()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::setInputTarget </td>
          <td>(</td>
          <td class="paramtype">const typename <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt;::ConstPtr &amp;&#160;</td>
          <td class="paramname"><em>target</em></td><td>)</td>
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<p>Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence distance. <br  />
 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">target</td><td>a cloud containing XYZ data </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;            <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>.reset (<span class="keyword">new</span> DataContainer&lt;PointT&gt;);</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;          boost::static_pointer_cast&lt;DataContainer&lt;PointT&gt; &gt; (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#adb6467ef67ddcbe237a83397a373839d">setInputTarget</a> (target);</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_adb6467ef67ddcbe237a83397a373839d"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#adb6467ef67ddcbe237a83397a373839d">pcl::registration::CorrespondenceRejectorMedianDistance::setInputTarget</a></div><div class="ttdeci">void setInputTarget(const typename pcl::PointCloud&lt; PointT &gt;::ConstPtr &amp;target)</div><div class="ttdoc">Provide a target point cloud dataset (must contain XYZ data!), used to compute the correspondence dis...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_median_distance.h:122</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#abf36ccb95bf035bc1ca6c650c03ccf48">&#9670;&nbsp;</a></span>setMedianFactor()</h2>

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          <td class="memname">void pcl::registration::CorrespondenceRejectorMedianDistance::setMedianFactor </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>factor</em></td><td>)</td>
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<p>Set the factor for correspondence rejection. Points with distance greater than median times factor will be rejected </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">factor</td><td>value </td></tr>
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  </dd>
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<div class="fragment"><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;{ <a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1f708753da3e9b0e53f9ce892a2c375e">factor_</a> = factor; };</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_a1f708753da3e9b0e53f9ce892a2c375e"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a1f708753da3e9b0e53f9ce892a2c375e">pcl::registration::CorrespondenceRejectorMedianDistance::factor_</a></div><div class="ttdeci">double factor_</div><div class="ttdoc">The factor for correspondence rejection. Points with distance greater than median times factor will b...</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_median_distance.h:201</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#afbd18955dda3ee094bfe0d22864a0f73">&#9670;&nbsp;</a></span>setSearchMethodTarget()</h2>

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          <td>(</td>
          <td class="paramtype">const boost::shared_ptr&lt; <a class="el" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &gt; &amp;&#160;</td>
          <td class="paramname"><em>tree</em>, </td>
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<p>Provide a pointer to the search object used to find correspondences in the target cloud. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">tree</td><td>a pointer to the spatial search object. </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">force_no_recompute</td><td>If set to true, this tree will NEVER be recomputed, regardless of calls to setInputTarget. Only use if you are confident that the tree will be set correctly. </td></tr>
  </table>
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<div class="fragment"><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        { </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;          boost::static_pointer_cast&lt; DataContainer&lt;PointT&gt; &gt; </div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            (<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#a82b18888604dd7807a4d66fa283adea7">data_container_</a>)-&gt;<a class="code" href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#afbd18955dda3ee094bfe0d22864a0f73">setSearchMethodTarget</a> (tree, force_no_recompute );</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_rejector_median_distance_html_afbd18955dda3ee094bfe0d22864a0f73"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_rejector_median_distance.html#afbd18955dda3ee094bfe0d22864a0f73">pcl::registration::CorrespondenceRejectorMedianDistance::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const boost::shared_ptr&lt; pcl::search::KdTree&lt; PointT &gt; &gt; &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> correspondence_rejection_median_distance.h:165</div></div>
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<hr/>该类的文档由以下文件生成:<ul>
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